diff --git a/src/modules/navigator/rtl_direct.cpp b/src/modules/navigator/rtl_direct.cpp
index 9c53bca44f..440b8a15b8 100644
--- a/src/modules/navigator/rtl_direct.cpp
+++ b/src/modules/navigator/rtl_direct.cpp
@@ -123,7 +123,7 @@ void RtlDirect::on_inactive()
 	_vehicle_status_sub.update();
 }
 
-void RtlDirect::setRtlPosition(PositionYawSetpoint rtl_position, loiter_point_s loiter_pos)
+void RtlDirect::setRtlPosition(const PositionYawSetpoint &rtl_position, const loiter_point_s &loiter_pos)
 {
 	parameters_update();
 
@@ -556,7 +556,7 @@ void RtlDirect::parameters_update()
 	}
 }
 
-loiter_point_s RtlDirect::sanitizeLandApproach(loiter_point_s land_approach) const
+loiter_point_s RtlDirect::sanitizeLandApproach(const loiter_point_s &land_approach) const
 {
 	loiter_point_s sanitized_land_approach{land_approach};
 
diff --git a/src/modules/navigator/rtl_direct.h b/src/modules/navigator/rtl_direct.h
index 40fb18e0cc..9d86d6e5b6 100644
--- a/src/modules/navigator/rtl_direct.h
+++ b/src/modules/navigator/rtl_direct.h
@@ -107,7 +107,7 @@ public:
 	void setReturnAltMin(bool min) { _enforce_rtl_alt = min; }
 	void setRtlAlt(float alt) {_rtl_alt = alt;};
 
-	void setRtlPosition(PositionYawSetpoint position, loiter_point_s loiter_pos);
+	void setRtlPosition(const PositionYawSetpoint &position, const loiter_point_s &loiter_pos);
 
 	bool isLanding() { return (_rtl_state != RTLState::IDLE) && (_rtl_state >= RTLState::LOITER_DOWN);};
 
@@ -145,7 +145,7 @@ private:
 	 * @brief sanitize land_approach
 	 *
 	 */
-	loiter_point_s sanitizeLandApproach(loiter_point_s land_approach) const;
+	loiter_point_s sanitizeLandApproach(const loiter_point_s &land_approach) const;
 
 	/**
 	 * Check for parameter changes and update them if needed.